A kinematically redundant robot manipulator has a lot of useful properties, such as avoiding singularities, obstacles and optimized motions. The redundant manipulator can have those useful properties because it has in...
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A kinematically redundant robot manipulator has a lot of useful properties, such as avoiding singularities, obstacles and optimized motions. The redundant manipulator can have those useful properties because it has infinite number of solutions of inverse kinematics. Unfortunately, many solutions also make it hard to get the solution of inverse kinematics. In this paper we propose two schemes which can find the globally near optimal solution of redundant manipulator's inverse kinematics using evolutionary programming (EP). Evolutionary programming is a stochastic search method based on principles of evolution and hereditary. The two schemes are mainly different on chromosome representation method. The chromosome of first scheme is composed of all joint angles while the chromosome of second scheme is composed of only redundant joint angles. To make complete trajectory, interpolation is needed between two knots and the bound of interpolation error is calculated. We will make the globally optimized trajectory of 3-DOF RRR-type planer manipulator.
Object-orientation increases portability, flexibilty and reuse of software components;distribution improves performance, scalability and collaboration. We propose a distributed object computing (DOC) framework for the...
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An application of fuzzy logic inference technique on cement grinding roller control is proposed. The control of cement grinding roller is that the oil-pressure is commanded to follow a desired setting pressure. The or...
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An application of fuzzy logic inference technique on cement grinding roller control is proposed. The control of cement grinding roller is that the oil-pressure is commanded to follow a desired setting pressure. The original method of determining the setting pressure in terms of driving current is a PI-liked method. But by this method, the grinding roller control will result in large fluctuation of pressure and current caused by variation of feedstocks. According to the previous operation record data, we apply the back-propagation neural network to identify the system model for establishing the simulation program for evaluating the derived control algorithm and propose the fuzzy rules to infer the desired setting pressure to replace the original PI-liked method. This improvement has been practically applied in a Taiwan cement manufacturing plant, it can show that the fluctuation of pressure and current has been reduced, i.e. the manufacturing plant on-line works confirm the improvement.
To replace or maintain many industrial plants developed in the 1960s is quite hard, because the documents of installed sequential control logics seldom remain. SPAIR is an automatic regeneration method of control logi...
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To replace or maintain many industrial plants developed in the 1960s is quite hard, because the documents of installed sequential control logics seldom remain. SPAIR is an automatic regeneration method of control logic to cope with this problem. In SPAIR, the control logic for operating plants is automatically regenerated from the input and output data of the control unit and supplementary specification by an inductive learning algorithm. When SPAIR is applied to the regeneration of real operating plants, it is necessary to verify if the regenerated sequential control programs can accurately control such plants. For this purpose, the SPAR-System, in which SPAIR is installed, has been developed. The SPAR-System can edit the data andlogic of plants and can verify the inferred logic on the simulation plant model easily.
In many music-related domains there has been a lot of interest in motives, which commonly designate rhythmic and/or melodic fragments related to a composer, improviser, or style. Motive-oriented musicological studies ...
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With increasing complexity of circuit layout on the die and special packages in which the die are flipped over, failure analysis on the die front side, sometimes, can not solve the problems or is not possible by openi...
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A novel method for recognition of on-line handwritten Chinese characters is presented with the emphasis to a systematic representation in fuzzy logic for characters. The information contained in a character is examine...
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A novel method for recognition of on-line handwritten Chinese characters is presented with the emphasis to a systematic representation in fuzzy logic for characters. The information contained in a character is examined by a set of well-selected features. A matrix structure is defined as an abstract fuzzy representation for the characters determined by inference of fuzzy rule base. Chinese characters can be coded in a small set of basic units. Hence, a unit extraction module is designed to search the possible units within characters. The input character is recognized by the unit code with the largest fuzzy similarity degree. The training capability is performed with the qualitative fuzzy c-means clustering algorithm. An experimental system has achieved a recognition rate of 95% under a test set of 550 characters and 2 cases for each character written by 6 users. The experimental system has real-time recognition response of average 0.5 sec/character. This approach has two significant advantages over other methods: 1) Less training time;2) Less storage required to store character models, that are two crucial factors in design of Personal Digital Assistant (PDA) devices for mobile communication. The storage using our method requires O(i2) memory space, where i is the average number of strokes in a unit. In contrast, the method storing information of entire character requires O(I2) memory space, where I is the average number of strokes in a character.
In this paper, a Lyapunov function-based fuzzy logic controller (FLC) is proposed. The strategy is to automatically generate the decision rules of the FLC and provide a stable closed-loop system. The proposed scheme c...
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In this paper, a Lyapunov function-based fuzzy logic controller (FLC) is proposed. The strategy is to automatically generate the decision rules of the FLC and provide a stable closed-loop system. The proposed scheme can be easily obtained by a set of control rules with a minimal amount of prior information about the plant. Furthermore, fuzzy inference is introduced to stabilize nonlinear systems. Two nonlinear plants are used to illustrate the validity of the investigated schemes.
This paper describes how fuzzy logic can be applied to robotic control using software tools on personal computers. First, the fundamentals of fuzzy logic and robotics are discussed. Second, fuzzy controller designs fo...
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This paper describes how fuzzy logic can be applied to robotic control using software tools on personal computers. First, the fundamentals of fuzzy logic and robotics are discussed. Second, fuzzy controller designs for a two-link manipulator and for robot PUMA 560 (the last three links locked) are proposed. C language code is developed to simulate the controller designs. Fuzzy Inference Development Environment (FIDE) software from Aptronix, Inc. is used for development of fuzzy if-then rules. The contribution of this paper is the exploration of nonconventional methods for control of highly nonlinear systems.
A fuzzy logic power system stabiliser has been developed using speed and active power deviations as the controller input variables. The inference mechanism of the fuzzy logic controller is represented by a 7/spl times...
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A fuzzy logic power system stabiliser has been developed using speed and active power deviations as the controller input variables. The inference mechanism of the fuzzy logic controller is represented by a 7/spl times/7 decision table, i.e. 49 if-then rules. In order to use it under a wide range of operating conditions, its parameters have been tuned using a neural network. The tuned stabiliser has been tested by performing nonlinear simulations using a synchronous machine-infinite bus model. It is shown that the neuro-fuzzy stabiliser is superior to a fixed parameter fuzzy logic power system stabiliser.
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